CN107134939B - A kind of three level grid-connected inverter dual models prediction direct Power Control method - Google Patents

A kind of three level grid-connected inverter dual models prediction direct Power Control method Download PDF

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CN107134939B
CN107134939B CN201710406440.0A CN201710406440A CN107134939B CN 107134939 B CN107134939 B CN 107134939B CN 201710406440 A CN201710406440 A CN 201710406440A CN 107134939 B CN107134939 B CN 107134939B
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inverter
switch
power
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CN107134939A (en
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康龙云
程建材
胡毕华
肖文哲
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South China University of Technology SCUT
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • H02M7/487—Neutral point clamped inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)

Abstract

The invention discloses a kind of three level grid-connected inverter dual models to predict direct Power Control method, proposes dual model prediction direct Power Control to adjust the instantaneous active and reactive power of gird-connected inverter, and balance mid-point voltage.Dual model prediction direct Power Control is divided into two steps, establish two Direct Power prediction models, first acquire the sector where optimized switching state, then optimized switching state is being found out in a sector, finally controlled using each switching device of the optimized switching state of three level grid-connected inverters to three-level inverter.The present invention can reduce the operand of algorithm, save computing resource, reduce control algolithm bring delay time, and the gird-connected inverter performance of this method control is good.

Description

A kind of three level grid-connected inverter dual models prediction direct Power Control method
Technical field
The present invention relates to parallel network reverse technical field, in particular to a kind of three level grid-connected inverter dual models prediction is direct Poewr control method.
Background technique
With getting worse for environmental pollution and energy crisis, the distributed hair of the renewable energy such as solar energy, wind energy is utilized Power technology is by more and more extensive concern.And gird-connected inverter is the interface of distributed generation system and power grid, and it is traditional Two-level inverter is compared, and three-level inverter harmonic content is low, and switching loss is small, and power quality and efficiency will be much higher.
Model Predictive Control is a kind of novel predictive control strategy, which, which needs to establish one, can predict behavior in future System model, usually construct an objective function, selection makes this objective function reach the optimized switching state of minimum value, just Predicted value can be made close to target value.Predictive control algorithm about three level grid-connected inverters has the direct function of model prediction earliest Rate control and model prediction current control.These predictive control algorithms can be passed through with the mid-point voltage of balancing three-level inverter Optimized switching state is selected to reduce switching frequency, but both conventional methods is computationally intensive, needs 27 calculating cycles Optimized switching state is acquired, consumes a large amount of computing resource.Currently, the limited domination set model for gird-connected inverter is pre- Observing and controlling system and hierarchical mode predicted voltage control strategy based on g-h coordinate space Vector Modulation are suggested, and both methods can To save considerable computing resource, but current noise is introduced into reference voltage, leads to the reduced performance of inverter.
Summary of the invention
In order to overcome existing gird-connected inverter control strategy computationally intensive, introducing current noise causes inverse to reference voltage The shortcomings that becoming device reduced performance, the present invention provide a kind of three level grid-connected inverter dual models prediction direct Power Control method, The operand of algorithm can be reduced, save computing resource, reduce control algolithm bring delay time.
The purpose of the present invention is realized by the following technical solution: a kind of three level grid-connected inverter dual models prediction is direct Poewr control method, comprising steps of
1, selection includes the sector of optimized switching state；
2, optimized switching state is selected in the optimal sector obtained in the first step；
3, the device for power switching of inverter is controlled using the optimized switching state of three level grid-connected inverters.
Preferably, ask the formula of the sector where optimized switching state as follows:
Specifically, being found out in three phase network at static two phase coordinate systems α β, wattful power under the influence of negligible resistance The differential equation of rate and reactive power:
Wherein, eαβAnd iαβThe power grid phase voltage and line current under static two phase coordinate systems α β are represented, L is alternating current filter Inductance, ω indicates that angular speed, P represent active, and Q represents idle；When inverter switching states are viWhen, inverter is static two The voltage exported under phase coordinate system α β is ui(uαi,uβi), so above formula can also be indicated are as follows:
It is active and idle can be written as in this way, at the k+1 moment:
Wherein k indicates the current sampling period, and k+1 indicates sampling period next time, TsIndicate sampling time and Ts=t (k+1)-t(k)；
All switch states are divided into multiple sectors, takes and is located in the middle a switch state in each sector, are utilized The active-power P at k+1 moment is calculated separately positioned at intermediate switch statei(k+1) and reactive power Qi(k+1)；
The sector where optimized switching state is first asked, does not at this moment consider capacitor neutral point voltage balance, objective function first Are as follows:
J '=[Pref-Pi(k+1)]2+[Qref-Qi(k+1)]2
Wherein PrefIt is given active power value, QrefIt is given reactive power value；Find out the minimum of objective function J ' Be worth corresponding intermediate short amount, where sector be sector where optimized switching state.
Preferably, after finding out the sector where optimized switching state, second step is carried out, by the switch state in corresponding sector It brings into the objective function J of second model, the corresponding switch state of the minimum value of objective function J is optimized switching state； For asking the formula of optimized switching state as follows:
Wherein, uoIt (k+1) is mid-point voltage.
Specifically, mid-point voltage equation are as follows:
U in above formulao=uc1-uc2For the voltage difference of upper and lower two capacitors, C is the size of two capacitors of DC side, uabcIt is three Electrical level inverter export phase voltage and | uabc|={ | ua|,|ub|,|uc|, iabcIt is the line current and i of connected systemabc= {ia,ib,ic}。
Specifically, the value of λ is 0.1.
Preferably, region division is carried out to three-level inverter space voltage vector figure, initially totally 27 switch states, Middle null vector includes three switch states: PPP, OOO and NNN；The switch state of three all null vectors is replaced with OOO, is remained Lower 25 switch states；2 switch states are shared between two adjacent sectors；The switch state of each sector is as follows: sector I, switch state include OOO, POO, ONN, PNO, PNN, PON；Sector II, switch state include OOO, PPO, OON, PON, PPN, OPN；Sector III, switch state include OOO, OPO, NON, OPN, NPN, NPO；Sector IV, switch state include OOO, OPP, NOO,NPO,NPP,NOP；Sector V, switch state include OOO, OOP, NNO, NOP, NNP, ONP；Sector VI, switch state include OOO、POP、ONO、ONP、PNP、PNO。
Preferably, using the optimized switching state of three level grid-connected inverters acquired, gird-connected inverter can be made to export Active and reactive power track reference power, and DC side mid-point voltage can be balanced.
Compared with the prior art, the invention has the following advantages and beneficial effects:
The present invention predicts direct Power Control on the basis of Model Predictive Control, using dual model, compared to traditional Three-level inverter Model Predictive Control reduces a large amount of operand, has saved the computing resource of dsp chip, has reduced and prolong Slow time, the active balance mid-point voltage of two capacitors improve the performance of three-level inverter, reduce output electric current Harmonic content.
Detailed description of the invention
Fig. 1 is three level grid-connected inverter circuit diagrams；
Fig. 2 is three-level inverter space voltage vector figure；
Fig. 3 is three-level inverter space vector sector figure；
Fig. 4 is three level grid-connected inverter dual models prediction direct Power Control system construction drawing；
Fig. 5 is three level grid-connected inverter dual models prediction direct Power Control system flow chart；
Fig. 6 is that the dynamic of inverter output voltage in the prediction direct Power Control system emulation of gird-connected inverter dual model is rung It answers；
Fig. 7 is the dynamic response of power grid line current in the prediction direct Power Control system emulation of gird-connected inverter dual model；
Fig. 8 is that electric network active and idle dynamic are rung in the prediction direct Power Control system emulation of gird-connected inverter dual model It answers；
Fig. 9 is that the dynamic of the DC capacitor voltage of gird-connected inverter dual model prediction direct Power Control system emulation is rung It answers.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited In this.
In Fig. 1, give three level grid-connected inverter circuit diagrams, three-level three-phase inverter by filter inductance L with And resistance R is connected with power grid.
In Fig. 2, the corresponding space voltage vector of 27 switch states is given, each switch state corresponds to sound The voltage vector for the inverter output answered.
When inverter switching states are viWhen, the voltage vector of three-level inverter output is ui(uαi,uβi), three level are inverse Become the output voltage vector u of deviceiIt can be acquired by power grid phase voltage vector e, line current vector i and inductance L and resistance R:
In formula (1), by ignoring the resistance of filter, converted by Clark, it can be static to two-phase by equation transform Under coordinate system α β:
Wherein, eαβAnd iαβRepresent the power grid phase voltage and line current under static two phase coordinate systems α β.
By taking three-phase voltage as an example, Clark transformation for mula is as follows:
Wherein, uαiAnd uβiBetween have following relationship:
Instantaneous active power and reactive power can be obtained by following formula at two-phase stationary coordinate system α β:
Wherein, P is represented active, and Q represents idle.In conjunction with formula (2), wink on formula (4) and two-phase stationary coordinate system α β When active power and reactive power formula (5), obtain the active power and reactive power at two-phase stationary coordinate system α β The differential equation are as follows:
Wherein, ω indicates electrical angular speed.Above formula can also be indicated are as follows:
It is active and idle can be written as in this way, at the k+1 moment:
In formula, TsIt is the sampling period, active-power P (k) and reactive power Q (k) are the active and idle of k moment, active Power Pi(k+1) and reactive power Qi(k+1) be the k+1 moment active and idle predicted value.
In Fig. 3, region division is carried out to the three-level inverter space voltage vector figure in Fig. 2, to carry out bimodulus Type predicts direct Power Control, and the switch state of each sector is as shown in table 1.Wherein null vector includes three switch states (PPP, OOO and NNN) therefore replaces the switch state of three all null vectors with OOO herein, becomes 25 switch shapes State shares 2 switch states between two adjacent sectors.For Model Predictive Control, need to carry out 25 meters The period is calculated to acquire optimized switching state, and dual model PREDICTIVE CONTROL only needs to carry out 12 calculating cycles, and each calculating The calculating time in period is almost equal with Model Predictive Control, during seeking the first step and seeking sector, calculating cycle Time is even shorter.
The switch state of 1 six sectors of table
Sector Switch state
I OOO POO ONN PNO PNN PON
II OOO PPO OON PON PPN OPN
III OOO OPO NON OPN NPN NPO
IV OOO OPP NOO NPO NPP NOP
V OOO OOP NNO NOP NNP ONP
VI OOO POP ONO ONP PNP PNO
First the first step of dual model prediction direct Power Control is illustrated, it is active and idle pre- when the k+1 moment Measured value and given active-power PrefAnd reactive power QrefIt is available by formula (8) when equal:
If u (uα,uβ) it is active-power P in Direct Power PREDICTIVE CONTROLi(k+1) and reactive power Qi(k+1) in order to give Determine the equal voltage vector for wishing to export of power, formula (9) and formula (6) simultaneous can be solved into uαAnd uβExpression formula:
In formula, UmIt is the maximum value of network voltage.In order to find out the corresponding switch state of the smallest objective function, mesh is defined Scalar functions are as follows:
J=[Pref-Pi(k+1)]2+[Qref-Qi(k+1)]2+λ|uo(k+1)| (11)
Wherein, λ takes a lesser value, and value here is 0.1, and the side of mid-point voltage uo (k+1) is asked in formula (11) Journey are as follows:
U in formula (12)o=uc1-uc2For the voltage difference of upper and lower two capacitors, C is the size of two capacitors of DC side, uabcIt is Three-level inverter export phase voltage and | uabc|={ | ua|,|ub|,|uc|, iabcIt is the line current and i of connected systemabc= {ia,ib,ic}.It is available to bring the differential equation (6) of power and formula (10) into objective function J:
Wherein, ui(uαi,uβi) it is when inverter switching states are viWhen, inverter is exported at static two phase coordinate systems α β Voltage；And u (uα,uβ) it is that the active and idle of k+1 moment in Direct Power PREDICTIVE CONTROL wishes defeated to track specified power Voltage vector out.This objective function is simplified, objective function J' is obtained:
By formula (10) uαAnd uβExpression formula bring above formula into, obtained equation is:
J '=[Pref-Pi(k+1)]2+[Qref-Qi(k+1)]2 (15)
By analysis above, the first step of dual model prediction direct Power Control is first carried out below, takes intermediate short Amount calculates the active-power P at k+1 momenti(k+1) and reactive power Qi(k+1), then the objective function J ' of first model is brought into Acquire the sector where optimized switching state.The intermediate short amount of sector is represented in the I of sector as POO or ONN, generation in the II of sector The intermediate short amount of table sector is PPO/OON, and so on, sector III is OPO/NON, and sector IV is OPP/NOO, and sector V is OOP/NNO, sector VI are POP/ONO.In Fig. 3For voltage vector,In the I of sector, when in the I of sector Intermediate short amount work when, J ' is minimized because fromShort amount is exactly the centre in the I of sector between nearest brachymedial Short amount, so the corresponding intermediate short amount of the minimum value for finding out objective function J ', where sector be optimized switching shape Sector where state.For asking the formula of the sector where optimized switching state as follows:
After finding out the sector where optimized switching state, second step is carried out, brings the switch state in corresponding sector into the In the objective function J of two models, the corresponding switch state of the minimum value of objective function is optimized switching state.For asking most The formula of excellent switch state is as follows:
Using the optimized switching state for three level grid-connected inverters that dual model prediction direct Power Control acquires, can make The active and reactive power track reference power of gird-connected inverter output, and DC side mid-point voltage can be balanced.
In Fig. 4, the structure chart of dual model prediction direct Power Control system is given, in structure chart, program is summarized It is as follows: firstly, by 6 short vector vs in 6 sectorssi(i=1~6) substitute into the prediction model of the first step, obtain enabling target letter Number J ' reaches the intermediate short amount of minimum value, obtains the sector where it；Then, by 6 in sector obtained in the first step Switch state vi(i=1~6) substitute into the prediction model of second step, and obtain optimized switching state, finally optimal open what is obtained Off status brings three-level inverter into, controls the switching device work of inverter, its active power and reactive power is made to track ginseng Power is examined, and DC side mid-point voltage can be balanced.
In Fig. 5, direct Power Control system construction drawing is predicted according to the three level grid-connected inverter dual models of Fig. 4, is given The DSP flow figure of three level grid-connected inverter dual models prediction direct Power Control system is gone out.Wherein, ui(uαi,uβi) it is 6 The corresponding intermediate short amount in sector, u 'i(u’αi,u’βi) it is the corresponding voltage vector of 6 switch states in optimal sector, remaining mark It is identical with formula to infuse meaning.In order to find optimized switching state, we be respectively necessary for 6 calculating cycles calculate the first step and The objective function of second step.The dual model prediction direct Power Control method of Fig. 5 description is compared to model prediction Direct Power control System reduces calculation amount, and calculating cycle is reduced to 12 from 25.
Three level grid-connected inverter dual models are constructed using simulation software MATLAB/Simulink and predict direct Power Control System carries out simulation study, and wherein system parameter is as shown in table 1.
1 system parameter of table
Parameter Value
Filter inductance L 9mH
DC bus capacitor C 1000uF
DC voltage 350V
Power grid phase voltage 220V
Mains frequency 50Hz
Sample frequency 10kHz
Dead time 3us
With reference to active power 3kW
With reference to reactive power 0kVar
By emulation, dual model prediction direct Power Control is provided to the control performance of three-level three-phase gird-connected inverter. In emulation, at the time of 10ms, given by three level grid-connected inverters is promoted from 0 to 3kW with reference to active power.
In Fig. 6, inverter output electricity in the prediction direct Power Control system emulation of gird-connected inverter dual model is given The dynamic response of pressure；In Fig. 7, grid line electricity in the prediction direct Power Control system emulation of gird-connected inverter dual model is given The dynamic response of stream；In fig. 8, electric network active in the prediction direct Power Control system emulation of gird-connected inverter dual model is given With idle dynamic response；In Fig. 9, the direct current of gird-connected inverter dual model prediction direct Power Control system emulation is given The dynamic response of lateral capacitance voltage.It can be seen that the prediction Direct Power control of gird-connected inverter dual model from simulation result above System processed not only reduces calculating cycle, has saved computing resource, and can track better given active power and Reactive power reduces the harmonic content in alternating current, balances mid-point voltage.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention, It should be equivalent substitute mode, be included within the scope of the present invention.

Claims (4)

1. a kind of three level grid-connected inverter dual models predict direct Power Control method, which is characterized in that comprising steps of
S1, selection include the sector of optimized switching state；
The objective function J ' for bringing first model into, acquires the sector where optimized switching state, and formula is as follows:
Specifically, found out in three phase network at static two phase coordinate systems α β under the influence of negligible resistance, active power and The differential equation of reactive power:
Wherein, eαβAnd iαβThe power grid phase voltage and line current under static two phase coordinate systems α β are represented, L is the electricity of alternating current filter Sense, ω indicate that angular speed, P represent active, and Q represents idle；When inverter switching states are viWhen, inverter is sat in static two-phase The voltage exported under mark system α β is ui(uαi,uβi), so above formula can also be indicated are as follows:
It is active and idle can be written as in this way, at the k+1 moment:
Wherein, k indicates the current sampling period, and k+1 indicates sampling period next time, TsIndicate sampling time and Ts=t (k+ 1)-t(k)；
All switch states are divided into multiple sectors, takes and is located in the middle a switch state in each sector, using being located at Intermediate switch state calculates separately the active-power P at k+1 momenti(k+1) and reactive power Qi(k+1)；
The sector where optimized switching state is first asked, does not at this moment consider capacitor neutral point voltage balance, objective function first are as follows:
J '=[Pref-Pi(k+1)]2+[Qref-Qi(k+1)]2
Wherein PrefIt is given active power value, QrefIt is given reactive power value；Find out the minimum value pair of objective function J ' The intermediate short amount answered, where sector be sector where optimized switching state；
Optimized switching state is selected in S2, the optimal sector obtained in the first step；
Switch state in corresponding sector is brought into the objective function J of second model, the minimum value of objective function J is corresponding Switch state is optimized switching state；For asking the formula of optimized switching state as follows:
Wherein, uoIt (k+1) is mid-point voltage；
Specifically, mid-point voltage equation are as follows:
U in above formulao=uc1-uc2For the voltage difference of upper and lower two capacitors, C is the size of two capacitors of DC side, uabcIt is three level Inverter export phase voltage and | uabc|={ | ua|,|ub|,|uc|, iabcIt is the line current and i of connected systemabc={ ia,ib, ic}；
S3, the device for power switching of inverter is controlled using the optimized switching state of three level grid-connected inverters.
2. three level grid-connected inverters dual model according to claim 1 predicts that direct Power Control method, feature exist In the value of λ is 0.1.
3. three level grid-connected inverters dual model according to claim 1 predicts that direct Power Control method, feature exist In carrying out region division to three-level inverter space voltage vector figure, initially totally 27 switch states, wherein null vector includes Three switch states: PPP, OOO and NNN；The switch state of three all null vectors is replaced with OOO, is left 25 switch shapes State；2 switch states are shared between two adjacent sectors；The switch state of each sector is as follows: sector I, switch state packet Include OOO, POO, ONN, PNO, PNN, PON；Sector II, switch state include OOO, PPO, OON, PON, PPN, OPN；Sector III, Switch state includes OOO, OPO, NON, OPN, NPN, NPO；Sector IV, switch state include OOO, OPP, NOO, NPO, NPP, NOP；Sector V, switch state include OOO, OOP, NNO, NOP, NNP, ONP；Sector VI, switch state include OOO, POP, ONO, ONP、PNP、PNO。
4. three level grid-connected inverters dual model according to claim 1 predicts that direct Power Control method, feature exist In gird-connected inverter being made to export active and idle using the optimized switching state of three level grid-connected inverters acquired Power tracking reference power, and DC side mid-point voltage can be balanced.
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